I don't really know if this is doable but here's what I'm trying to do with firewall-cmd

Here's the scenario. We have ServerA and ServerB. What I'm trying to do is allow traffic between ServerA and ServerB when ServerA initiate the connection. So if ServerB is trying for exmple to ping ServerA it'll be blocked. But if ServerA initiate a connection it would be allowed. I know it's kinda messed up but do you think this is feasible?